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Ingeniería y competitividad

versão impressa ISSN 0123-3033


NOPE, Sandra E.. Bio-inspired system for gesture imitation applied in robotics. Ing. compet. [online]. 2013, vol.15, n.2, pp.57-67. ISSN 0123-3033.

This work describes the necessary aspects for the programming of a robot through the paradigm of learning by demonstration and it proposes a system that keeps concordance with what is known about the functioning of biological systems. Four gestures performed by the arm of different human demonstrators were used in the imitation performed by a simulated arm. To achieve these gesture imitations, a Visual-Motor map was created which allows the robot to give its own interpretation of the observed gesture. The imitation performance was evaluated for its quality and quantity. New indicators are presented for the four gestures that make possible the imitation evaluation beyond the following of the trajectory usually performed in order to define the success of the imitation. The imitation was successful in 3 of the 4 gestures and scored an average of 62% for the poll and 78.6% for the indicators

Palavras-chave : Learning by demonstration; bio-inspired system; visual-motor map; metrics to evaluate imitation.

        · resumo em Espanhol     · texto em Inglês     · Inglês ( pdf )